def reset(self): with torch.no_grad(): arcsim.init_physics('../200120_manipulation/conf.json', '../200120_manipulation/out_ddpg', False) self.step_ = 0 self.sim = arcsim.get_sim() sigma = 0.4 x = np.random.random() * sigma - 0.5 * sigma + np.random.randint( 2) * 2 - 1 self.goal = torch.tensor([ 0.0000, 0.0000, 0.0000, x, 0, 2 + np.random.random() * sigma - 0.5 * sigma ], dtype=torch.float64) observation = [] remain_time = torch.tensor([(self.steps) / 50], dtype=torch.float64) observation = torch.cat([ self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal, self.sim.obstacles[0].curr_state_mesh.dummy_node.v, remain_time ]) return observation.numpy()
def reset_sim(sim): arcsim.init_physics(sys.argv[1] + '/conf.json', '', False) mat = sim.cloths[0].materials[0] density = mat.densityori stretch = mat.stretchingori bend = mat.bendingori return density, stretch, bend
def reset_sim(sim, epoch, goal): if epoch % 5==0: arcsim.init_physics(out_path+'/conf.json', out_path+'/out%d'%epoch,False) text_name = out_path+'/out%d'%epoch + "/goal.txt" np.savetxt(text_name, goal[3:6], delimiter=',') else: arcsim.init_physics(out_path+'/conf.json',out_path+'/out',False) print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
def reset_sim(sim, epoch): arcsim.init_physics(out_path+'/conf.json',out_path+'/out%d'%epoch,False) goal = torch.tensor([0.0000, 0.0000, 0.0000, 0, 0, 0],dtype=torch.float64) text_name = out_path+'/out%d'%epoch + "/goal.txt" np.savetxt(text_name, goal[3:6], delimiter=',') print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
def reset(self): with torch.no_grad(): self.step_ = 0 sigma = 0.1 z = np.random.random() * sigma + 0.4 y = np.random.random() * sigma - sigma / 2 x = np.random.random() * sigma - sigma / 2 ini_co = torch.tensor( [0.0000, 0.0000, 0.0000, 0.4744, 0.4751, 0.0064], dtype=torch.float64) goal = torch.tensor([0.0000, 0.0000, 0.0000, 0, 0, z], dtype=torch.float64) goal = goal + ini_co self.goal = goal if self.epoch % 4 == 0 and self.epoch <= 60: arcsim.init_physics('../200121_drag/conf.json', '../200121_drag/out_ddpg%d' % self.epoch, False) text_name = '../200121_drag/out_ddpg%d' % self.epoch + "/goal.txt" np.savetxt(text_name, goal[3:6], delimiter=',') else: arcsim.init_physics('../200121_drag/conf.json', '../200121_drag/out_ddpg', False) self.sim = arcsim.get_sim() handles = [0, 1, 2, 3] observation = [] remain_time = torch.tensor([(self.steps) / 50], dtype=torch.float64) for i in range(len(handles)): observation.append(self.sim.cloths[0].mesh.nodes[handles[i]].x) observation.append(self.sim.cloths[0].mesh.nodes[handles[i]].v) dis = self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal observation.append(dis.narrow(0, 3, 3)) observation.append(remain_time) observation = torch.cat(observation) # observation = [] # remain_time = torch.tensor([(self.steps)/50],dtype=torch.float64) # observation = torch.cat([self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal, # self.sim.obstacles[0].curr_state_mesh.dummy_node.v, # remain_time]) return observation.detach().numpy()
def reset_sim(sim, epoch, goal): if epoch % 4 == 0: arcsim.init_physics(sys.argv[1] + '/conf.json', sys.argv[1] + '/out%d' % epoch, False) text_name = sys.argv[1] + '/out%d' % epoch + "/goal.txt" np.savetxt(text_name, goal[3:6], delimiter=',') else: arcsim.init_physics(sys.argv[1] + '/conf.json', sys.argv[1] + '/out', False) print(sim.obstacles[0].curr_state_mesh.dummy_node.x) for i in range(10, len(sim.obstacles[0].curr_state_mesh.nodes)): this_node = sim.obstacles[0].curr_state_mesh.nodes[i] this_node.m = this_node.m * 0.00001
def reset(self): with torch.no_grad(): if self.epoch <= 20: arcsim.init_physics( '../200216_bounce/conf.json', '../200216_bounce/out_cmaes%d' % self.epoch, False) text_name = '../200216_bounce/out_cmaes%d' % self.epoch + "/goal.txt" goal = torch.tensor([0.0000, 0.0000, 0.0000, 0, 0, 0], dtype=torch.float64) np.savetxt(text_name, goal[3:6], delimiter=',') else: arcsim.init_physics('../200216_bounce/conf.json', '../200216_bounce/out_cmaes', False) self.step_ = 0 self.sim = arcsim.get_sim()
def reset(self): with torch.no_grad(): self.step_ = 0 sigma = 0.4 x = np.random.random()*sigma - 0.5*sigma + np.random.randint(2)*2-1 ini_co = torch.tensor([0, 0, 0, 4.5549e-04, -2.6878e-01, 0.23], dtype=torch.float64) goal = ini_co + torch.tensor([0.0000, 0.0000, 0.0000, x, 0, 2+np.random.random()*sigma - 0.5*sigma],dtype=torch.float64) self.goal = goal # torch.tensor([0.0000, 0.0000, 0.0000, # x, # 0, # 2+np.random.random()*sigma - 0.5*sigma],dtype=torch.float64) if self.epoch % 4==0 and self.epoch <= 100: arcsim.init_physics('../200216_man_vid/conf.json','../200216_man_vid/out_ddpg%d'%self.epoch,False) text_name = '../200216_man_vid/out_ddpg%d'%self.epoch+ "/goal.txt" np.savetxt(text_name, self.goal[3:6], delimiter=',') else: arcsim.init_physics('../200216_man_vid/conf.json', '../200216_man_vid/out_ddpg',False) self.sim = arcsim.get_sim() observation = [] remain_time = torch.tensor([(self.steps)/50],dtype=torch.float64) observation = torch.cat([self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal, self.sim.obstacles[0].curr_state_mesh.dummy_node.v, remain_time]) return observation.numpy()
def reset_sim(sim): arcsim.init_physics('conf/rigidcloth/absparse/abqr_make.json', '200204_qr/out', False)
def reset_sim(): arcsim.init_physics(argv1+'/conf.json',argv1+'/out',False)
def reset_sim(): arcsim.init_physics('conf/rigidcloth/scale/scale_make.json', '', False)
def reset_sim(): with torch.no_grad(): arcsim.init_physics('conf/rigidcloth/circular_domino/circular_domino_make.json','200205_circulat_dominod/out_damping9',False)
def reset_sim(sim): arcsim.init_physics('conf/rigidcloth/absparse/multibody_make.json', '200204_sparse/out', False)
def reset_sim(sim): arcsim.init_physics(sys.argv[1] + '/conf.json', sys.argv[1] + '/out', False)
def reset_sim(): arcsim.init_physics('conf/rigidcloth/multibody/multibody_make.json', '', False)
def reset_sim(): arcsim.init_physics('curconf.json', '', False) g = sim.gravity g.requires_grad = True return g
def reset_sim(): arcsim.init_physics('conf/rigidcloth/q_rigid_gravity.json','',False) g = sim.gravity g.requires_grad = True return g
def reset_sim(sim): arcsim.init_physics(sys.argv[1]+'/conf.json',sys.argv[1]+'/out2',False) print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
def reset_sim(): arcsim.init_physics('conf/rigidcloth/circular_domino/circular_domino_make.json','',False)
def reset(self): with torch.no_grad(): arcsim.init_physics('../200121_bounce/conf.json', '../200121_bounce/out_cmaes',False) self.step_ = 0 self.sim = arcsim.get_sim()
def reset_sim(sim): arcsim.init_physics(out_path+'/conf.json', out_path+'/out',False) print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
def reset_sim(): with torch.no_grad(): arcsim.init_physics('conf/rigidcloth/circular_domino/circular_domino_make.json', out_path+'/out',False)